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Sensor Configuration and Coordinate System Transforms

Camera sensor configuration, image-to-vehicle coordinate system transform, bird’s-eye-view image transform

You can use the monoCamera object to define your monocular camera configuration. The object requires you to define camera intrinsics and extrinsics. To obtain intrinsics, use the Camera Calibrator app. Extrinsics are defined by specifying the camera mounting position. You can use the configured monoCamera object to transform locations in image coordinates to locations in vehicle coordinates. These transformations enable you to estimate distances to locations ahead of the ego vehicle. You can also create a bird’s-eye-view image using the monoCamera object.


Camera CalibratorEstimate geometric parameters of a single camera
Stereo Camera CalibratorEstimate geometric parameters of a stereo camera


expand all

monoCameraConfigure monocular camera sensor
imageToVehicleConvert image coordinates to vehicle coordinates
vehicleToImageConvert vehicle coordinates to image coordinates
undistortImageCorrect image for lens distortion
estimateCameraParametersCalibrate a single or stereo camera
estimateFisheyeParametersCalibrate fisheye camera
estimateMonoCameraParametersEstimate extrinsic monocular camera parameters using checkerboard
cameraIntrinsics Object for storing intrinsic camera parameters
cameraParametersObject for storing camera parameters
birdsEyeViewCreate bird's-eye view using inverse perspective mapping
transformImageTransform image to bird's-eye view
imageToVehicleConvert bird's-eye-view image coordinates to vehicle coordinates
vehicleToImageConvert vehicle coordinates to bird's-eye-view image coordinates
insertObjectAnnotationAnnotate truecolor or grayscale image or video stream
insertLaneBoundaryInsert lane boundary into image
insertMarkerInsert markers in image or video
insertShapeInsert shapes in image or video
insertTextInsert text in image or video


Coordinate Systems in Automated Driving Toolbox

Understand coordinate systems for automated driving

Calibrate a Monocular Camera

Estimate the intrinsic and extrinsic parameters of a monocular camera using a checkerboard pattern.

Featured Examples